rgbdslam v2 crashed with SIGSEGV in a g2o function
I have installed and built rgbdslam v2 with ROS Kinetic on Unbuntu 16.04 64-bit . I am trying to run rgbdslam_v2 the first time. It crashed with SIGSEGV in g2o::OptimizationAlgorithmLevenberg::computeLambdaInit(). I ran it again in gdb and got the following message.
(gdb) run Starting program: /home/cchien/ws/devel/lib/rgbdslam/rgbdslam [Thread debugging using libthreaddb enabled] Using host libthreaddb library "/lib/x8664-linux-gnu/libthreaddb.so.1". Initializing Node... [New Thread 0x7fffdba73700 (LWP 5596)] [New Thread 0x7fffdb272700 (LWP 5597)] [New Thread 0x7fffdaa71700 (LWP 5598)] [New Thread 0x7fffda270700 (LWP 5603)] [ INFO] [1501693503.483366540]: Connected to roscore [New Thread 0x7fffca557700 (LWP 5750)] [New Thread 0x7fffbbc5c700 (LWP 5751)] [New Thread 0x7fffbb45b700 (LWP 5752)] [New Thread 0x7fffbac5a700 (LWP 5753)] [New Thread 0x7fffa9c32700 (LWP 5755)] [New Thread 0x7fffa9431700 (LWP 5756)] [New Thread 0x7fffa8c30700 (LWP 5763)] [ INFO] [1501693503.836516251]: Using ORB keypoint detector. [ INFO] [1501693503.836587707]: Using gridded keypoint detector with 3x3 cells, keeping 900 keypoints in total. [ INFO] [1501693503.836611159]: Using adjusted keypoint detector with 5 maximum iterations, keeping the number of keypoints between 67 and 100 [New Thread 0x7fffa3fff700 (LWP 5776)] [ INFO] [1501693503.851006600]: Listening to /camera/rgb/imageraw and /camera/depthregistered/swregistered/imagerectraw [New Thread 0x7fffa13bc700 (LWP 5837)] [Thread 0x7fffa9c32700 (LWP 5755) exited] [ WARN] [1501693504.578840045]: First RGBD-Data Received [ INFO] [1501693504.579242254]: Encoding: rgb8 [ INFO] [1501693504.579933769]: Depth and RGB image off more than 1/30sec: 37913323 (nsec) [New Thread 0x7fffa9c32700 (LWP 5840)] [New Thread 0x7fff8e785700 (LWP 5841)] [New Thread 0x7fff8df84700 (LWP 5842)] [New Thread 0x7fff8d783700 (LWP 5843)] [New Thread 0x7fff8cf82700 (LWP 5844)] [New Thread 0x7fff87fff700 (LWP 5845)] [New Thread 0x7fff877fe700 (LWP 5846)] [New Thread 0x7fff86ffd700 (LWP 5847)] [New Thread 0x7fff867fc700 (LWP 5848)] [New Thread 0x7fff85ffb700 (LWP 5849)] [New Thread 0x7fff857fa700 (LWP 5850)] [New Thread 0x7fff84ff9700 (LWP 5851)] [New Thread 0x7fff6ffff700 (LWP 5852)] [New Thread 0x7fff677fe700 (LWP 5853)] [New Thread 0x7fff6f7fe700 (LWP 5854)] [New Thread 0x7fff6effd700 (LWP 5855)] [New Thread 0x7fff6e7fc700 (LWP 5856)] [New Thread 0x7fff6dffb700 (LWP 5857)] [New Thread 0x7fff6d7fa700 (LWP 5858)] [New Thread 0x7fff6cff9700 (LWP 5859)] [New Thread 0x7fff67fff700 (LWP 5860)] [New Thread 0x7fff66ffd700 (LWP 5861)] [ INFO] [1501693504.709457358]: Feature 2d size: 559, 3D: 559 [ INFO] [1501693504.709495541]: Keypoints: 559 [ INFO] [1501693504.709531060]: Feature Count of Node: 559 [ WARN] [1501693504.720037361]: "opennirgbopticalframe" passed to lookupTransform argument targetframe does not exist. [ WARN] [1501693504.720081452]: Using Standard kinect /opennicamera -> /opennirgbopticalframe as transformation (This message is throttled to 1 per 5 seconds) [New Thread 0x7fff667fc700 (LWP 5862)] [ INFO] [1501693504.723105951]: Ground Truth Transform for First Node: Translation 0 0 0 [ INFO] [1501693504.723219471]: Ground Truth Transform for First Node: Rotation 0 0 0 1 [ INFO] [1501693504.723264371]: Adding initial node with id 0 and seq 0, vid: 0 [ INFO] [1501693504.723470935]: Setting Renderable [ INFO] [1501693504.723539809]: Encoding: rgb8 [ INFO] [1501693504.732371275]: No change to renderer skip (1). [ INFO] [1501693504.732477032]: 1 Keyframes: 0, [ INFO] [1501693504.739553587]: Feature 2d size: 539, 3D: 539 [ INFO] [1501693504.739583485]: Keypoints: 539 [ INFO] [1501693504.739594653]: Feature Count of Node: 539 [ WARN] [1501693504.749765606]: "opennirgbopticalframe" passed to lookupTransform argument targetframe does not exist. [ WARN] [1501693504.749805257]: Using Standard kinect /opennicamera -> /opennirgbopticalframe as transformation (This message is throttled to 1 per 5 seconds) [ INFO] [1501693504.752483614]: Node ID's to compare with candidate for node 1. Sequential: 0 [ INFO] [1501693504.752523489]: Nodes to compare: 0, [ INFO] [1501693504.752546177]: Running node comparisons in parallel in 7 (of 8) available threads [New Thread 0x7fff65ffb700 (LWP 5863)] [New Thread 0x7fff657fa700 (LWP 5864)] [New Thread 0x7fff64ff9700 (LWP 5865)] [New Thread 0x7fff43fff700 (LWP 5866)] [ INFO] [1501693504.753556849]: Encoding: rgb8 [New Thread 0x7fff3b7fe700 (LWP 5867)] [New Thread 0x7fff437fe700 (LWP 5868)] [New Thread 0x7fff42ffd700 (LWP 5869)] [ INFO] [1501693504.753938511]: You specified FLANN with ORB, this is SLOW! Using BRUTEFORCE instead. [ INFO] [1501693504.758570392]: My bruteforce Search runtime: 0.00457305 s [ INFO] [1501693504.766091080]: 64 good iterations (from 100), inlier pct 71, inlier cnt: 215, error (MHD): 0.84 [ INFO] [1501693504.766128561]: Nodes 1<->0: 64 good iterations (from 100), inlier pct 71, inlier cnt: 215, error (MHD): 0.84 [ INFO] [1501693504.766147890]: RANSAC found a valid transformation with 215 inliers matches with average ratio 0.063110 [ INFO] [1501693504.766161835]: Returning Valid Edge [ INFO] [1501693504.767860110]: Feature 2d size: 568, 3D: 568 [ INFO] [1501693504.767887348]: Keypoints: 568 [ INFO] [1501693504.767897922]: Feature Count of Node: 568 [ INFO] [1501693504.769423506]: Result of comparison 0: [ INFO] [1501693504.769454707]: Rotation: 0.17, Distance: 0.006m [ INFO] [1501693504.769475170]: Rotation: 0.17, Distance: 0.006m [ INFO] [1501693504.769522524]: Added Edge between 0 and 1. Inliers: 215 [ WARN] [1501693504.769549933]: Time jump (time delta: 0.17) [ INFO] [1501693504.769568317]: Adding node with id 1 and seq id 1 to the graph [ INFO] [1501693504.769586294]: create cloud 1 1 0 [ INFO] [1501693504.773549813]: No change to renderer skip (1). [ INFO] [1501693504.773612030]: Added Node, new graphsize: 2 nodes [ WARN] [1501693504.773688981]: Loop Closures: 0, Sequential Edges: 1 [ WARN] [1501693504.773710423]: Starting Optimization [ INFO] [1501693504.773823212]: Added, Camera Pose Graph Size: 2N/1E, Duration: 0.021262, Inliers: 215 [ WARN] [1501693504.773855795]: Optimization with 2 cams, 7526754600452358144 nodes and 7307217292035781968 edges in the graph
Thread 38 "Thread (pooled)" received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7fff65ffb700 (LWP 5863)] 0x00007ffff756ab17 in g2o::OptimizationAlgorithmLevenberg::computeLambdaInit() const () from /home/cchien/Code/g2ofork/install/lib/libg2o_core.so
I would appreciate any help and suggestion for fixing the problem. Thanks, C. Chien
Asked by chyphen on 2017-08-02 17:27:36 UTC
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